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<div class="title">hypotheses_verification.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_HYPOTHESIS_VERIFICATION_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_HYPOTHESIS_VERIFICATION_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;pcl/recognition/hv/occlusion_reasoning.h&quot;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &quot;pcl/recognition/impl/hv/occlusion_reasoning.hpp&quot;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/search/kdtree.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/voxel_grid.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ModelT, <span class="keyword">typename</span> SceneT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_hypothesis_verification.html">   56</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_hypothesis_verification.html">HypothesisVerification</a></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="comment">     * \brief Boolean vector indicating if a hypothesis is accepted/rejected (output of HV stage)</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    std::vector&lt;bool&gt; mask_;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment">     * \brief Scene point cloud</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;SceneT&gt;::ConstPtr scene_cloud_;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment">     * \brief Scene point cloud</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;SceneT&gt;::ConstPtr occlusion_cloud_;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordtype">bool</span> occlusion_cloud_set_;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">     * \brief Downsampled scene point cloud</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;     <span class="keyword">typename</span> pcl::PointCloud&lt;SceneT&gt;::Ptr scene_cloud_downsampled_;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="comment">     * \brief Scene tree of the downsampled cloud</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">typename</span> pcl::search::KdTree&lt;SceneT&gt;::Ptr scene_downsampled_tree_;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="comment">     * \brief Vector of point clouds representing the 3D models after occlusion reasoning</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="comment">     * the 3D models are pruned of occluded points, and only visible points are left. </span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment">     * the coordinate system is that of the scene cloud</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keyword">typename</span> std::vector&lt;typename pcl::PointCloud&lt;ModelT&gt;::ConstPtr&gt; visible_models_;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    std::vector&lt;typename pcl::PointCloud&lt;pcl::Normal&gt;::ConstPtr&gt; visible_normal_models_;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="comment">     * \brief Vector of point clouds representing the complete 3D model (in same coordinates as the scene cloud)</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keyword">typename</span> std::vector&lt;typename pcl::PointCloud&lt;ModelT&gt;::ConstPtr&gt; complete_models_;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    std::vector&lt;typename pcl::PointCloud&lt;pcl::Normal&gt;::ConstPtr&gt; complete_normal_models_;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="comment">     * \brief Resolutions in pixel for the depth scene buffer</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordtype">int</span> zbuffer_scene_resolution_;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="comment">     * \brief Resolutions in pixel for the depth model self-occlusion buffer</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordtype">int</span> zbuffer_self_occlusion_resolution_;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="comment">     * \brief The resolution of models and scene used to verify hypotheses (in meters)</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordtype">float</span> resolution_;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">     * \brief Threshold for inliers</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordtype">float</span> inliers_threshold_;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="comment">     * \brief Threshold to consider a point being occluded</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordtype">float</span> occlusion_thres_;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="comment">     * \brief Whether the HV method requires normals or not, by default = false</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordtype">bool</span> requires_normals_;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="comment">     * \brief Whether the normals have been set</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordtype">bool</span> normals_set_;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <a class="code" href="classpcl_1_1_hypothesis_verification.html">HypothesisVerification</a> ()</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      zbuffer_scene_resolution_ = 100;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      zbuffer_self_occlusion_resolution_ = 150;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      resolution_ = 0.005f;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      inliers_threshold_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(resolution_);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      occlusion_cloud_set_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      occlusion_thres_ = 0.005f;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      normals_set_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      requires_normals_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordtype">bool</span> getRequiresNormals() {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keywordflow">return</span> requires_normals_;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="comment">     *  \brief Sets the resolution of scene cloud and models used to verify hypotheses</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="comment">     *  mask r resolution</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    setResolution(<span class="keywordtype">float</span> r) {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      resolution_ = r;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="comment">     *  \brief Sets the occlusion threshold</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment">     *  mask t threshold</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    setOcclusionThreshold(<span class="keywordtype">float</span> t) {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      occlusion_thres_ = t;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="comment">     *  \brief Sets the resolution of scene cloud and models used to verify hypotheses</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment">     *  mask r resolution</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    setInlierThreshold(<span class="keywordtype">float</span> r) {</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      inliers_threshold_ = r;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="comment">     *  \brief Returns a vector of booleans representing which hypotheses have been accepted/rejected (true/false)</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="comment">     *  mask vector of booleans</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    getMask (std::vector&lt;bool&gt; &amp; mask)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      mask = mask_;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="comment">     *  \brief Sets the 3D complete models. NOTE: If addModels is called with occlusion_reasoning=true, then</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment">     *  there is no need to call this function.</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="comment">     *  mask models Vector of point clouds representing the models (in same coordinates as the scene_cloud_)</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    addCompleteModels (std::vector&lt;<span class="keyword">typename</span> pcl::PointCloud&lt;ModelT&gt;::ConstPtr&gt; &amp; complete_models)</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      complete_models_ = complete_models;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="comment">     *  \brief Sets the normals of the 3D complete models and sets normals_set_ to true.</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="comment">     *  Normals need to be added before calling the addModels method.</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="comment">     *  complete_models The normals of the models.</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    addNormalsClouds (std::vector&lt;pcl::PointCloud&lt;pcl::Normal&gt;::ConstPtr&gt; &amp; complete_models)</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    {</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      complete_normal_models_ = complete_models;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      normals_set_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="comment">     *  \brief Sets the models (recognition hypotheses) - requires the scene_cloud_ to be set first if reasoning about occlusions</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="comment">     *  mask models Vector of point clouds representing the models (in same coordinates as the scene_cloud_)</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    addModels (std::vector&lt;<span class="keyword">typename</span> pcl::PointCloud&lt;ModelT&gt;::ConstPtr&gt; &amp; models, <span class="keywordtype">bool</span> occlusion_reasoning = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      mask_.clear();</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keywordflow">if</span>(!occlusion_cloud_set_) {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        PCL_WARN(<span class="stringliteral">&quot;Occlusion cloud not set, using scene_cloud instead...\n&quot;</span>);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        occlusion_cloud_ = scene_cloud_;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="keywordflow">if</span> (!occlusion_reasoning)</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        visible_models_ = models;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="comment">//we need to reason about occlusions before setting the model</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <span class="keywordflow">if</span> (scene_cloud_ == 0)</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        {</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;          PCL_ERROR(<span class="stringliteral">&quot;setSceneCloud should be called before adding the model if reasoning about occlusions...&quot;</span>);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="keywordflow">if</span> (!occlusion_cloud_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> ())</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;          PCL_WARN(<span class="stringliteral">&quot;Scene not organized... filtering using computed depth buffer\n&quot;</span>);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <a class="code" href="classpcl_1_1occlusion__reasoning_1_1_z_buffering.html">pcl::occlusion_reasoning::ZBuffering&lt;ModelT, SceneT&gt;</a> zbuffer_scene (zbuffer_scene_resolution_, zbuffer_scene_resolution_, 1.f);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        <span class="keywordflow">if</span> (!occlusion_cloud_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> ())</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;          zbuffer_scene.computeDepthMap (occlusion_cloud_, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        }</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; models.size (); i++)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          <span class="comment">//self-occlusions</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;ModelT&gt;::Ptr filtered (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;ModelT&gt;</a> ());</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;          <span class="keyword">typename</span> <a class="code" href="classpcl_1_1occlusion__reasoning_1_1_z_buffering.html">pcl::occlusion_reasoning::ZBuffering&lt;ModelT, SceneT&gt;</a> zbuffer_self_occlusion (75, 75, 1.f);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;          zbuffer_self_occlusion.computeDepthMap (models[i], <span class="keyword">true</span>);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;          std::vector&lt;int&gt; indices;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;          zbuffer_self_occlusion.filter (models[i], indices, 0.005f);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;          <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*models[i], indices, *filtered);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;          <span class="keywordflow">if</span>(normals_set_ &amp;&amp; requires_normals_) {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;            pcl::PointCloud&lt;pcl::Normal&gt;::Ptr filtered_normals (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Normal&gt;</a> ());</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;            <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a>(*complete_normal_models_[i], indices, *filtered_normals);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            visible_normal_models_.push_back(filtered_normals);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;          }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;ModelT&gt;::ConstPtr const_filtered(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;ModelT&gt;</a> (*filtered));</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          <span class="comment">//typename pcl::PointCloud&lt;ModelT&gt;::ConstPtr const_filtered(new pcl::PointCloud&lt;ModelT&gt; (*models[i]));</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          <span class="comment">//scene-occlusions</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          <span class="keywordflow">if</span> (occlusion_cloud_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> ())</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;            filtered = pcl::occlusion_reasoning::filter&lt;ModelT,SceneT&gt; (occlusion_cloud_, const_filtered, 525.f, occlusion_thres_);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;          }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;          {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;            zbuffer_scene.filter (const_filtered, filtered, occlusion_thres_);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;          }</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;          visible_models_.push_back (filtered);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        }</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        complete_models_ = models;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      }</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      occlusion_cloud_set_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      normals_set_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    }</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="comment">     *  \brief Sets the scene cloud</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="comment">     *  scene_cloud Point cloud representing the scene</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    setSceneCloud (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;SceneT&gt;::Ptr &amp; scene_cloud)</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    {</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      complete_models_.clear();</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      visible_models_.clear();</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      visible_normal_models_.clear();</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      scene_cloud_ = scene_cloud;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      scene_cloud_downsampled_.reset(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;SceneT&gt;</a>());</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt;SceneT&gt;</a> voxel_grid;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      voxel_grid.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (scene_cloud);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      voxel_grid.<a class="code" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a> (resolution_, resolution_, resolution_);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      voxel_grid.<a class="code" href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">setDownsampleAllData</a>(<span class="keyword">true</span>);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      voxel_grid.<a class="code" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (*scene_cloud_downsampled_);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <span class="comment">//initialize kdtree for search</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      scene_downsampled_tree_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;SceneT&gt;</a>);</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      scene_downsampled_tree_-&gt;<a class="code" href="classpcl_1_1search_1_1_kd_tree.html#a457ebf1fc8f25e3b45d0bf9d55880f6f">setInputCloud</a>(scene_cloud_downsampled_);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    }</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keywordtype">void</span> setOcclusionCloud (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;SceneT&gt;::Ptr &amp; occ_cloud)</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    {</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      occlusion_cloud_ = occ_cloud;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      occlusion_cloud_set_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    }</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="comment">     *  \brief Function that performs the hypotheses verification, needs to be implemented in the subclasses</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="comment">     *  This function modifies the values of mask_ and needs to be called after both scene and model have been added</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    verify ()=0;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  };</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;}</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_RECOGNITION_HYPOTHESIS_VERIFICATION_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a17115897ca28f6b12950d023958aa641"><div class="ttname"><a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">pcl::Filter::filter</a></div><div class="ttdeci">void filter(PointCloud &amp;output)</div><div class="ttdoc">Calls the filtering method and returns the filtered dataset in output.</div><div class="ttdef"><b>Definition:</b> filter.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_hypothesis_verification_html"><div class="ttname"><a href="classpcl_1_1_hypothesis_verification.html">pcl::HypothesisVerification</a></div><div class="ttdoc">Abstract class for hypotheses verification methods</div><div class="ttdef"><b>Definition:</b> hypotheses_verification.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; ModelT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a914dbcef25abdb46f32991ac112002e7"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">pcl::PointCloud::isOrganized</a></div><div class="ttdeci">bool isOrganized() const</div><div class="ttdoc">Return whether a dataset is organized (e.g., arranged in a structured grid).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:331</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a></div><div class="ttdoc">VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a1694d46442c66f7071235a8571dd602a"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">pcl::VoxelGrid::setDownsampleAllData</a></div><div class="ttdeci">void setDownsampleAllData(bool downsample)</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:257</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa5d7831e665977bdce76ed05bd0005cf"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">pcl::VoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector4f &amp;leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1occlusion__reasoning_1_1_z_buffering_html"><div class="ttname"><a href="classpcl_1_1occlusion__reasoning_1_1_z_buffering.html">pcl::occlusion_reasoning::ZBuffering</a></div><div class="ttdoc">Class to reason about occlusions</div><div class="ttdef"><b>Definition:</b> occlusion_reasoning.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt; SceneT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html_a457ebf1fc8f25e3b45d0bf9d55880f6f"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html#a457ebf1fc8f25e3b45d0bf9d55880f6f">pcl::search::KdTree::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> kdtree.hpp:77</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
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